From 5c697d50fd1242ad9d9a7ee204df927480f45d7e Mon Sep 17 00:00:00 2001 From: matlabbe Date: Sun, 26 Jun 2022 21:14:07 -0700 Subject: [PATCH] Update index.md --- index.md | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/index.md b/index.md index 0caa3372..36611910 100644 --- a/index.md +++ b/index.md @@ -4,11 +4,11 @@ ## Overview RTAB-Map logo + **RTAB-Map** (Real-Time Appearance-Based Mapping) is a RGB-D, Stereo and Lidar Graph-Based SLAM approach based on an incremental appearance-based loop closure detector. The loop closure detector uses a bag-of-words approach to determinate how likely a new image comes from a previous location or a new location. When a loop closure hypothesis is accepted, a new constraint is added to the map's graph, then a graph optimizer minimizes the errors in the map. A memory management approach is used to limit the number of locations used for loop closure detection and graph optimization, so that real-time constraints on large-scale environnements are always respected. RTAB-Map can be used alone with a handheld Kinect, a stereo camera or a 3D lidar for 6DoF mapping, or on a robot equipped with a laser rangefinder for 3DoF mapping. #### Illumination-Invariant Visual Re-Localization -* M. Labbé and F. Michaud, “[Multi-Session Visual SLAM for Illumination-Invariant Re-Localization in Indoor Environments](https://arxiv.org/abs/2103.03827),” in ''Frontiers in Robotics and AI'', vol. 9, 2022. ([Frontiers](https://doi.org/10.3389/frobt.2022.801886)) - * [Dataset link](https://github.com/introlab/rtabmap/tree/master/archive/2022-IlluminationInvariant) +* M. Labbé and F. Michaud, “[Multi-Session Visual SLAM for Illumination-Invariant Re-Localization in Indoor Environments](https://arxiv.org/abs/2103.03827),” in ''Frontiers in Robotics and AI'', vol. 9, 2022. ([Frontiers](https://doi.org/10.3389/frobt.2022.801886)) ([Dataset link](https://github.com/introlab/rtabmap/tree/master/archive/2022-IlluminationInvariant)) #### Lidar and Visual SLAM * M. Labbé and F. Michaud, “[RTAB-Map as an Open-Source Lidar and Visual SLAM Library for Large-Scale and Long-Term Online Operation](https://introlab.3it.usherbrooke.ca/mediawiki-introlab/images/7/7a/Labbe18JFR_preprint.pdf),” in _Journal of Field Robotics_, vol. 36, no. 2, pp. 416–446, 2019. ([Wiley](https://doi.org/10.1002/rob.21831))